CN113686328B - Device and method for controlling component to lift space posture - Google Patents
Device and method for controlling component to lift space posture Download PDFInfo
- Publication number
- CN113686328B CN113686328B CN202111066896.XA CN202111066896A CN113686328B CN 113686328 B CN113686328 B CN 113686328B CN 202111066896 A CN202111066896 A CN 202111066896A CN 113686328 B CN113686328 B CN 113686328B
- Authority
- CN
- China
- Prior art keywords
- lifting
- component
- prism
- controlling
- coordinate
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 22
- 238000005259 measurement Methods 0.000 claims abstract description 43
- 230000001360 synchronised effect Effects 0.000 claims abstract description 38
- 238000001514 detection method Methods 0.000 claims abstract description 34
- 230000000712 assembly Effects 0.000 claims abstract description 14
- 238000000429 assembly Methods 0.000 claims abstract description 14
- 238000012937 correction Methods 0.000 claims description 4
- 238000009435 building construction Methods 0.000 abstract description 2
- 229910000831 Steel Inorganic materials 0.000 description 18
- 239000010959 steel Substances 0.000 description 18
- 238000009434 installation Methods 0.000 description 4
- 238000012544 monitoring process Methods 0.000 description 2
- 238000004891 communication Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The invention discloses a device and a method for controlling the lifting spatial attitude of a component, which belong to the technical field of building construction. A plurality of total stations configured to be spaced around a circumference of the member; the plurality of groups of prism assemblies are arranged on the member at intervals around the periphery of the member, the prism assemblies are arranged in one-to-one correspondence with the total stations, and each total station can acquire the three-dimensional coordinates of the prism of the corresponding prism assembly; the synchronous measurement detection system can receive and process coordinate values acquired by the total station; the lifting system is used for lifting the component, the synchronous measurement detection system can send the received coordinate values to the lifting system, and the lifting system can correct the lifting values according to the received coordinate values so that the component is lifted to a set position. The invention can accurately lift the component to the set position.
Description
Technical Field
The invention relates to the technical field of building construction, in particular to a device and a method for controlling a component to lift a space posture.
Background
Steel structures are structures composed of steel materials, and are one of the main types of building structures.
When the truss layer at the top of the central cylinder is completed during construction, the steel structure is lifted and suspended at the truss layer at the top. When hoisting a steel structure, in order to control the spatial attitude of the steel structure, it is often necessary to acquire the spatial position of the steel structure.
In the prior art, generally, when the spatial position of a steel structure is obtained, only the Z-direction coordinate of the steel structure is often obtained. However, when the steel structure is hoisted, the steel structure is possibly inclined under the influence of external wind power, so that the X-direction coordinate and the Y-direction coordinate of the steel structure are changed. Therefore, only acquiring the Z-coordinate of the steel structure cannot accurately obtain the spatial position of the steel structure, which may affect the accurate installation of the steel structure.
Accordingly, there is a need for an apparatus and method for controlling the lifting of a member to a spatial attitude that solves the above-mentioned problems.
Disclosure of Invention
The invention aims to provide a device and a method for controlling the lifting space posture of a component, which can ensure the accurate installation position of the component.
The technical scheme adopted by the invention is as follows:
an apparatus for controlling a member to elevate a spatial attitude, comprising:
a plurality of total stations configured to be spaced around a circumference of the member;
The prism assemblies are arranged on the member at intervals around the periphery of the member, the prism assemblies are arranged in one-to-one correspondence with the total station, each prism assembly comprises four prisms, each prism of the prism assemblies is arranged on the member, the four prisms are respectively positioned at four corners of a rectangle, and each total station can acquire three-dimensional coordinates of the corresponding prism of the prism assembly;
the synchronous measurement detection system can receive and process coordinate values acquired by the total station;
And the lifting system is used for lifting the component, the synchronous measurement detection system can send the received coordinate values to the lifting system, and the lifting system can correct the lifting values according to the received coordinate values so as to enable the component to be lifted to a set position.
Optionally, the means for controlling the member to raise the spatial attitude comprises three of said total stations, and the prism assembly is provided with three sets.
Alternatively, three of the total stations are equally spaced around the circumference of the member.
Optionally, the prism is a 360 degree prism.
Optionally, the lifting system comprises:
A lifting mechanism for lifting the member;
And the third party control terminal can adjust the lifting height according to the received data so as to enable the component to be lifted to the set position.
A method for controlling the lifting spatial attitude of a member, the spatial attitude of the member being controlled using the above-described device for controlling the lifting spatial attitude of a member;
the method for controlling the member to raise the spatial attitude comprises the steps of:
S1, arranging a prism assembly and a total station according to a preset position when a component is at an initial position;
S2, at an initial position, each total station collects three-dimensional coordinates of a prism of the prism assembly corresponding to the total station and transmits the collected coordinates to the synchronous measurement and detection system;
S3, the lifting system lifts the component by a set stroke, when the component is lifted, one of the total stations is controlled to synchronously track one prism in the corresponding prism assembly, three-dimensional coordinates of the prism are collected in real time, and the collected coordinates are sent to the synchronous measurement detection system in real time until the lifting of the component is completed;
S4, hovering the component, acquiring three-dimensional coordinates of the rest prisms in the prism assemblies corresponding to the total station by the total station, transmitting the acquired coordinate values to the synchronous measurement detection system, acquiring the three-dimensional coordinates of the prisms in the prism assemblies corresponding to the total station by the rest total station according to the data received by the synchronous measurement detection system, and transmitting the acquired coordinate values to the synchronous measurement detection system;
S5, the synchronous measurement system sends the received coordinate values to the lifting system, and the lifting system corrects the lifting stroke of the component according to the received coordinate values.
Optionally, six prisms are arranged at equal intervals along the circumferential direction of the upper chord of the member and divide the member into six arc-shaped sheet areas, each arc-shaped sheet area is correspondingly provided with a group of lifting point groups, and each lifting point group comprises a plurality of lifting points.
Optionally, the step S5 includes:
s51, the lifting system calculates a coordinate difference value between the coordinate value of each prism at the initial position and the coordinate value of each prism at the hovering position; the lifting system acquires measurement coordinate values of lifting points of each arc-shaped sheet area at a hovering position;
S52, comparing whether the difference value of the coordinate difference value and the measured coordinate value is within a preset range, and if so, considering that the component is lifted to a preset position; otherwise, the lifting stroke of the component is corrected.
Optionally, in the step S52, correcting the lifting stroke of the member includes:
And adjusting the coordinate value of the lifting point corresponding to each arc-shaped sheet area until the absolute value of the error between the final X coordinate value of each prism and the X coordinate value of the initial position is within a first set error range, the absolute value of the error between the final Y coordinate value of the prism and the Y coordinate value of the initial position is within a second set error range, and the absolute value of the error between the final Z coordinate value of the prism and the Z coordinate value of the initial position is within a third set error range.
Optionally, the lifting system includes a plurality of lifting height sensors, the lifting height sensors are set in one-to-one correspondence with the lifting points, the lifting height sensors can collect measured lifting height values of the corresponding lifting points, and the measured lifting height values are adjusted until errors of final Z coordinate values and initial Z coordinate values of the prism are within a third set error range.
The device and the method for controlling the component to lift the space attitude provided by the invention measure the three-dimensional space coordinates of the prism on the component by using the total station, mark the monitoring point on the component by arranging the prism, and obtain the X coordinate, the Y coordinate and the Z coordinate of the monitoring point by using the total station so as to more accurately judge and adjust the space position of the component. The synchronous measurement detection system sends the received data of the total station to the lifting system, so that the lifting system can acquire the real position of the component, and further, the spatial position of the component can be corrected, and the component is lifted to the set position. If the real position of the component is not located at the set position, the lifting system can correct the lifting value according to the received coordinate value so that the component is lifted to the set position, and accurate installation of the component is ensured.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following description will briefly explain the drawings needed in the description of the embodiments of the present invention, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to the contents of the embodiments of the present invention and these drawings without inventive effort for those skilled in the art.
Fig. 1 is a schematic view of an apparatus for controlling a lifting spatial attitude of a member according to an embodiment of the present invention in use.
In the figure:
1. A total station; 2. a prism; 3. a member.
Detailed Description
In order to make the technical problems solved, the technical scheme adopted and the technical effects achieved by the invention more clear, the technical scheme of the invention is further described below by a specific embodiment in combination with the attached drawings. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the drawings related to the present invention are shown.
In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Wherein the terms "first position" and "second position" are two different positions.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixed or removable, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
Referring to fig. 1, the present embodiment provides a device for controlling the lifting spatial posture of a member, which is capable of accurately lifting the member 3 to a set position.
Specifically, in the present embodiment, the apparatus for controlling the member to lift the spatial attitude includes a lifting system, a synchronous measurement detection system, a prism assembly, and a plurality of total stations 1.
A number of total stations 1 are configured to be circumferentially spaced around the member 3; specifically, a plurality of total stations 1 are equally spaced around the circumference of the member 3.
The prism assemblies are provided with a plurality of groups, the prism assemblies are arranged on the member 3 at intervals around the periphery of the member 3, the prism assemblies are arranged in one-to-one correspondence with the total station 1, each prism assembly comprises four prisms 2, the four prisms 2 of each prism assembly are arranged on the member 3, the four prisms 2 are distributed on the member 3 in a rectangular shape, and each total station 1 can acquire three-dimensional coordinates of the prisms 2 of the corresponding prism assembly.
Preferably, in the present embodiment, the total station 1 is a total station having prism automatic tracking, locking and registering functions.
The synchronous measurement detection system is capable of receiving and processing the coordinate values acquired by the total station 1.
The lifting system is used for lifting the component 3, the synchronous measurement detection system can send the received coordinate values to the lifting system, and the lifting system can correct the lifting values according to the received coordinate values so that the component 3 is lifted to a set position.
Since the lifting system lifts the component 3 by one stroke, there may be a stroke error, i.e. the lifting system considers that the component 3 has been lifted to the set position, but there is a deviation between the actual position of the component 3 and the set position due to the stroke error. Thus requiring correction of the lift value.
In this embodiment, the total station 1 is used to measure the spatial coordinates of the prism 2 on the component 3 to obtain the true three-dimensional spatial position of the component 3. The synchronous measurement detection system sends the received data of the total station 1 to the lifting system, so that the lifting system can acquire the real position of the component 3, and further judge whether the lifting system lifts the component to a set position. If the real position of the component 3 is not located at the set position, the lifting system can correct the lifting value according to the received coordinate value so that the component 3 is lifted to the set position, and accurate installation of the component 3 is ensured.
Specifically, in the present embodiment, the means for controlling the member to raise the spatial attitude includes three total stations 1, and correspondingly, the prism assembly is provided with three groups. The three total stations 1 are equally spaced around the circumference of the member 3.
Specifically, in the present embodiment, the member 3 is of a steel structure.
When the steel structure is lifted, the central cylinder is firstly constructed, and after the truss layer at the top of the central cylinder is completed, the steel structure is lifted and hung on the truss layer at the top. I.e. the member 3 has a circular shape. The three total stations 1 are distributed at equal intervals in a circular ring around the steel structure, the circle center of the component 3 is used as the circle center, and the included angle between two adjacent total stations 1 is 120 degrees.
Specifically, the total station 1, also called total station scanner, is capable of obtaining three-dimensional coordinate values of the prism 2, thereby making accurate measurements of the spatial position of the member 3.
Preferably, in this embodiment, the prism 2 is a 360 degree prism, i.e. an omnidirectional reflecting prism, ensuring that the total station 1 is able to measure the spatial coordinates of the prism 2.
Specifically, in this embodiment, the lifting system includes a lifting mechanism and a third party control terminal.
The lifting mechanism is used for lifting the component 3; alternatively, the lifting mechanism may be a lift cylinder, a crane tower, an automobile crane, or the like, as long as the member 3 can be lifted.
The synchronous measurement detection system can send the received data to a third party control terminal, and the third party control terminal can adjust the lifting height according to the received data so that the component 3 is lifted to a set position. Optionally, the third party control terminal may be a computer or a handheld terminal, and the third party control terminal automatically corrects the lifting value according to an internal setting algorithm.
The present embodiment also provides a method for controlling the spatial attitude of a member, which controls the spatial attitude of the member 3 using the above-described apparatus for controlling the spatial attitude of a member.
Specifically, the method for controlling the member to raise the spatial attitude comprises the steps of:
S1, arranging a prism assembly and the total station 1 according to a preset position when a member 3 is at an initial position;
Specifically, in step S1, the means for controlling the member to raise the spatial attitude includes three total stations 1, and correspondingly, the prism assembly is provided with three groups. Three total stations 1 are arranged on the ground at equal intervals around the circumference of the member 3. Three sets of prism assemblies are arranged on the member 3 at equal intervals around the outer periphery of the member 3, each prism assembly comprising four prisms 2, the four prisms 2 of each prism assembly being distributed at four corners of a rectangle. That is, the four prisms 2 of each prism assembly are sequentially connected to form a rectangle.
Preferably, in step S1, in each prism assembly, two prisms 2 are disposed at intervals of an upper chord of the member 3, and the other two prisms 2 are disposed at intervals of a lower chord of the member 3. Preferably, six prisms 2 are equally spaced along the upper chord of the member 3, and six prisms 2 are equally spaced along the lower chord of the member 3.
S2, at the initial position, each total station 1 collects three-dimensional coordinates of a prism 2 of a corresponding prism assembly and transmits the collected coordinates to a synchronous measurement and detection system;
Specifically, in step S2, the initial position of the member 3 can be accurately obtained by collecting the three-dimensional coordinates of all the prisms 2 by the total station 1.
S3, the lifting system automatically lifts the component 3 by a set stroke, when the component 3 is lifted, one of the total stations 1 is controlled to automatically synchronously track one prism 2 in the corresponding prism assembly, three-dimensional coordinates of the prism 2 are acquired in real time, and the acquired coordinates are sent to the synchronous measurement detection system in real time until the component 3 is lifted;
Specifically, when the lifting system completes lifting the member 3 and makes the lifting member 3 reach the hovering position in step S3, the member 3 is not lifted to the set position due to an error of the lifting system or an external acting factor, and a deviation exists between the actual position and the set position of the member 3, and the deviation may be a deviation in the X direction, a deviation in the Y direction, or a deviation in the Z direction.
S4, hovering a component 3, automatically acquiring three-dimensional coordinates of other prisms 2 in the prism assembly corresponding to the total station 1 by the synchronous tracking total station, transmitting the acquired coordinate values to a synchronous measurement detection system, automatically acquiring the three-dimensional coordinates of the prisms 2 in the prism assembly corresponding to the total station 1 according to data received by the synchronous measurement detection system, and transmitting the acquired coordinate values to the synchronous measurement detection system;
For convenience of description, the total station for synchronously tracking the prism 2 in step S3 is referred to as a total station number one; the prism 2 corresponding to the total station I and synchronously tracked is called a prism I; correspondingly, the other two total stations are a second total station and a third total station respectively, and the other three prisms in the prism assembly of the first total station are a second prism, a third prism and a fourth prism respectively.
Specifically, in step S3, the objective lens of the total station dynamically tracks the prism at the same speed as the member 3 is lifted. And the first prism is synchronously tracked by only adopting the first total station, so that the real-time receiving numerical value of the synchronous measurement detection system can be reduced, and the requirement on the synchronous measurement detection system is reduced.
In step S4, when the member 3 hovers, the total station No. one acquires three-dimensional coordinates of the prism No. two, the prism No. three, and the prism No. four within the target range. And the second total station and the third total station acquire tracking ranges according to data fed back to the synchronous measurement detection system by the first total station, track the rest prisms 2 in the tracking ranges and acquire the coordinates of the prisms 2 of the corresponding prism assemblies. After one acquisition, the space coordinate values of twelve points on the component 3 enter a synchronous measurement detection system.
S5, the synchronous measurement system automatically sends the received coordinate values to the lifting system, and the lifting system automatically corrects the lifting stroke of the component 3 according to the received coordinate values.
Specifically, in step S5, the lifting system includes a lifting mechanism and a third party control terminal.
The lifting mechanism is used for lifting the component 3; the synchronous measurement detection system can send the received data to a third party control terminal, and the third party control terminal can adjust the lifting height according to the received data so that the component 3 is lifted to a set position.
Specifically, six prisms 2 are arranged at equal intervals along the upper chord of the member 3 along the circumferential direction of the upper chord of the member 3, the member 3 is divided into six arc-shaped sheet areas by the six prisms 2, each arc-shaped sheet area is correspondingly provided with a group of lifting point groups, and each lifting point group comprises a plurality of lifting points. The real spatial position of the arc-shaped sheet area is obtained by the spatial position of the prism 2. Each arc-shaped sheet area is provided with a plurality of lifting points, and the positions of the arc-shaped sheet areas can be adjusted by adjusting the lifting values of the lifting points.
Specifically, step S5 includes:
S51, the lifting system automatically calculates a coordinate difference value between the coordinate value of each prism 2 at the initial position and the coordinate value at the hovering position; the lifting system automatically collects the measurement coordinate values of lifting points of each arc-shaped sheet area at the hovering position;
s52, comparing whether the difference value of the coordinate and the measured coordinate value is within a preset range, and if so, considering that the component 3 is lifted to a preset position; otherwise, the lifting stroke of the component 3 is corrected.
Specifically, in step S51, when the hoisting system collects the measurement coordinate values, the X coordinate value and the Y coordinate value of the default measurement coordinate value are both zero, and the Z coordinate value is the measurement hoisting height value of the hoisting point at the hover position.
Specifically, in step S52, correcting the lifting stroke of the member 3 includes:
And automatically adjusting the coordinate value of the lifting point corresponding to each arc-shaped sheet area until the absolute value of the error between the final X coordinate value of each prism 2 and the X coordinate value of the initial position is within a first set error range, the absolute value of the error between the final Y coordinate value of the prism 2 and the Y coordinate value of the initial position is within a second set error range, and the absolute value of the error between the final Z coordinate value of the prism 2 and the Z coordinate value of the initial position is within a third set error range.
Specifically, in this embodiment, the lifting system includes a plurality of lifting height sensors, where the lifting height sensors are set in one-to-one correspondence with lifting points, and the lifting height sensors can collect measured lifting height values of the lifting points corresponding to the lifting height sensors, and adjust the measured lifting height values until an error between a final Z coordinate value of the prism 2 and a Z coordinate value of an initial position is within a third set error range.
In particular, the measured elevation is a data value obtained by the elevation sensor, which may be subject to errors from the true value. The difference between the Z coordinate values of the prism 2 at the initial position and at the hover position is a true height value, and the measured lift value is corrected in accordance with the true height value. For example, the height difference between the set position and the initial position is 10 meters; the real height value measured by the total station 1 is 9 meters; and the data obtained by the lifting height sensor is 10 meters, and the component is lifted until the data obtained by the lifting height sensor is 11 meters.
Illustratively, taking a total station number one and a prism number one as an example, how to correct the lift value of the adjustment member 3 is described.
Optionally, the first setting error range, the second setting error range and the third setting error range are 0 meters to 0.05 meters, so that the spatial coordinates of the first prism do not need to be corrected.
Preferably, in the present embodiment, the first setting error range, the second setting error range, and the third setting error range are 0 meters to 0.02 meters.
Illustratively, in step S2, at the initial position, the total station 1 collects the spatial coordinates of the prism No.1 as (0, 0), and the numerical units of each direction are meters; in step S3, when the lifting system lifts the member 3 by the set stroke and the member 3 is at the hover position, the ideal coordinate value of the prism No. one at the set position is (0,0,10), and at this time, the total station No.1 collects the actual coordinate values of the prism No. one as (0.01, -0.01, 10.05), and the absolute values of the coordinate differences between the actual coordinate values and the ideal coordinate values in each direction are all within the error range, which indicates that the position of the prism No. one reaches the set position of the prism No. one. The lifting value of the lifting point in the arc-shaped sheet area where the first prism is positioned is not required to be corrected.
Illustratively, in step S2, at the initial position, the total station 1 collects the spatial coordinates of the prism No. 1 as (0, 0), and the numerical units of each direction are meters; in step S3, when the lifting system lifts the member 3 to a set stroke and the member 3 is at a hover position, the ideal coordinate value of the first prism at the set position is (0,0,10), at this time, the actual coordinate value of the first prism collected by the first total station 1 is ((0.001, -0.001,9.70), at this time, the absolute value of the error between the Z coordinate value of the first prism and the Z coordinate value of the initial position exceeds a third set error range, at this time, the Z coordinate value of the first prism needs to be adjusted, that is, the lifting value of the lifting point in the arc-shaped area where the first prism is located needs to be corrected.
The device and the method for controlling the member to lift the space posture can automatically complete the control of the space posture of the member, and ensure that the member accurately reaches the set position.
The above embodiments merely illustrate the basic principle and features of the present invention, and the present invention is not limited to the above embodiments, but may be varied and altered without departing from the spirit and scope of the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
1. A method for controlling a lifting spatial attitude of a member, characterized in that the method for controlling a lifting spatial attitude of a member comprises the steps of:
S1, arranging a prism assembly and a total station (1) according to a preset position when a component (3) is at an initial position;
s2, at an initial position, each total station (1) collects three-dimensional coordinates of a prism (2) of the prism assembly corresponding to the total station and transmits the collected coordinates to a synchronous measurement and detection system;
S3, lifting the component (3) by a lifting system to set a stroke, controlling one of the total stations (1) to synchronously track one prism (2) in the corresponding prism assembly and acquire the three-dimensional coordinates of the prism (2) in real time when lifting the component (3), and sending the acquired coordinates to the synchronous measurement detection system in real time until lifting of the component (3) is completed;
S4, hovering the component (3), acquiring three-dimensional coordinates of the rest of prisms (2) in the prism assembly corresponding to the total station (1) through synchronous tracking, transmitting the acquired coordinate values to the synchronous measurement detection system, acquiring the three-dimensional coordinates of the prisms (2) in the prism assembly corresponding to the total station according to the data received by the synchronous measurement detection system through the rest of total station (1), and transmitting the acquired coordinate values to the synchronous measurement detection system;
S5, the synchronous measurement detection system sends the received coordinate values to the lifting system, and the lifting system corrects the lifting stroke of the component (3) according to the received coordinate values;
Wherein the lifting system corrects the lifting stroke of the component (3) according to the received coordinate values, including X coordinate value correction, Y coordinate value correction and Z coordinate value correction of the component (3).
2. Method for controlling the lifting spatial attitude of a component according to claim 1, characterized in that six prisms (2) are arranged at equal intervals along the circumference of the upper chord of the component (3) and in the circumference of the upper chord of the component (3), the six prisms (2) divide the component (3) into six arc-shaped segments, each of which is provided with a set of lifting points, each of which comprises several lifting points.
3. The method for controlling a member to lift a spatial attitude according to claim 2, characterized in that said step S5 comprises:
S51, the lifting system calculates a coordinate difference value between the coordinate value of each prism (2) at the initial position and the coordinate value at the hovering position; the lifting system acquires measurement coordinate values of lifting points of each arc-shaped sheet area at a hovering position;
S52, comparing whether the difference value of the coordinate difference value and the measured coordinate value is in a preset range, and if so, considering that the component (3) is lifted to a preset position; otherwise, the lifting stroke of the component (3) is modified.
4. A method for controlling the lifting spatial attitude of a component according to claim 3, characterized in that in said step S52, modifying the lifting stroke of said component (3) comprises:
Adjusting the coordinate value of the lifting point corresponding to each arc-shaped sheet area until the absolute value of the error between the final X coordinate value of each prism (2) and the X coordinate value of the initial position is within a first set error range, the absolute value of the error between the final Y coordinate value of the prism (2) and the Y coordinate value of the initial position is within a second set error range, and the absolute value of the error between the final Z coordinate value of the prism (2) and the Z coordinate value of the initial position is within a third set error range.
5. The method for controlling the lifting spatial attitude of a component according to claim 4, characterized in that the lifting system comprises a plurality of lifting height sensors, the lifting height sensors are arranged in one-to-one correspondence with the lifting points, the lifting height sensors can collect the corresponding measured lifting height values of the lifting points, and the measured lifting height values are adjusted until the errors of the final Z coordinate values and the Z coordinate values of the initial positions of the prism (2) are within a third set error range.
6. A device for controlling the lifting spatial attitude of a component, applied to a method for controlling the lifting spatial attitude of a component according to any one of claims 1 to 5, comprising:
A plurality of total stations (1) configured to be distributed at intervals around the circumference of the member (3);
The prism assemblies are arranged on the component (3) at intervals around the periphery of the component (3), the prism assemblies are arranged in one-to-one correspondence with the total station (1), each prism assembly comprises four prisms (2), the four prisms (2) of each prism assembly are arranged on the component (3) and are respectively positioned at four corners of a rectangle, and each total station (1) can automatically and synchronously track the corresponding prisms (2) of the prism assembly and can acquire three-dimensional coordinates of the prisms (2) in real time;
The synchronous measurement detection system can receive and process coordinate values acquired by the total station (1);
And the lifting system is used for lifting the component (3), the synchronous measurement detection system can send the received coordinate values to the lifting system, and the lifting system can correct the lifting values according to the received coordinate values so that the component (3) is lifted to a set position.
7. The device for controlling the spatial attitude of a component lift according to claim 6, characterized in that it comprises three of said total stations (1), said prism assembly being provided with three groups.
8. Device for controlling the lifting spatial attitude of a structure according to claim 7, characterized in that three of said total stations (1) are equally spaced around the circumference of said structure (3).
9. The device for controlling the lifting of a spatial attitude of a component according to claim 6, characterized in that said prism (2) is a 360-degree prism.
10. The apparatus for controlling a lifting spatial attitude of a member according to claim 6, wherein said lifting system comprises:
a lifting mechanism for lifting the member (3);
and the third party control terminal can send the received data to the synchronous measurement detection system, and the third party control terminal can adjust the lifting height according to the received data so as to enable the component (3) to be lifted to the set position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111066896.XA CN113686328B (en) | 2021-09-13 | 2021-09-13 | Device and method for controlling component to lift space posture |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111066896.XA CN113686328B (en) | 2021-09-13 | 2021-09-13 | Device and method for controlling component to lift space posture |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113686328A CN113686328A (en) | 2021-11-23 |
| CN113686328B true CN113686328B (en) | 2024-06-07 |
Family
ID=78586141
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111066896.XA Active CN113686328B (en) | 2021-09-13 | 2021-09-13 | Device and method for controlling component to lift space posture |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113686328B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115096179A (en) * | 2022-06-13 | 2022-09-23 | 江西省交通运输科学研究院有限公司 | A real-time monitoring system and method for double-width counter-rotation construction across existing railway bridges |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001080881A (en) * | 1999-09-10 | 2001-03-27 | Nishimatsu Constr Co Ltd | Tower crane device |
| CN204461409U (en) * | 2015-02-13 | 2015-07-08 | 徐州市市政设计院有限公司 | The quick resolver of a kind of shield attitude |
| CN205532581U (en) * | 2016-01-29 | 2016-08-31 | 徐州市市政设计院有限公司 | Open caisson location automatic measuring device |
| CN109000625A (en) * | 2018-05-24 | 2018-12-14 | 上海市基础工程集团有限公司 | For circular open caisson sinking posture automatic measurement system and method |
| CN109052170A (en) * | 2018-09-30 | 2018-12-21 | 中国水利水电第七工程局有限公司 | A kind of large equipment single hook hauling positioning device and localization method |
| WO2020049497A1 (en) * | 2018-09-07 | 2020-03-12 | Saipem S.P.A. | System and method for positioning an offshore structure |
| CN112148037A (en) * | 2020-09-25 | 2020-12-29 | 上海市机械施工集团有限公司 | Steel structure lifting posture adjusting method and adjusting system based on fuzzy control |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6316568B2 (en) * | 2013-10-31 | 2018-04-25 | 株式会社トプコン | Surveying system |
-
2021
- 2021-09-13 CN CN202111066896.XA patent/CN113686328B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001080881A (en) * | 1999-09-10 | 2001-03-27 | Nishimatsu Constr Co Ltd | Tower crane device |
| CN204461409U (en) * | 2015-02-13 | 2015-07-08 | 徐州市市政设计院有限公司 | The quick resolver of a kind of shield attitude |
| CN205532581U (en) * | 2016-01-29 | 2016-08-31 | 徐州市市政设计院有限公司 | Open caisson location automatic measuring device |
| CN109000625A (en) * | 2018-05-24 | 2018-12-14 | 上海市基础工程集团有限公司 | For circular open caisson sinking posture automatic measurement system and method |
| WO2020049497A1 (en) * | 2018-09-07 | 2020-03-12 | Saipem S.P.A. | System and method for positioning an offshore structure |
| CN109052170A (en) * | 2018-09-30 | 2018-12-21 | 中国水利水电第七工程局有限公司 | A kind of large equipment single hook hauling positioning device and localization method |
| CN112148037A (en) * | 2020-09-25 | 2020-12-29 | 上海市机械施工集团有限公司 | Steel structure lifting posture adjusting method and adjusting system based on fuzzy control |
Non-Patent Citations (1)
| Title |
|---|
| 掘进设备自动导向及标定校准系统的设计与实现;曾婵;强永龙;刘新华;;无线电工程;20130731(07);45-48 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113686328A (en) | 2021-11-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108356512B (en) | Precision docking process for self-leveling spacecraft | |
| CN111578862B (en) | A point cloud accuracy calibration device and method for a terrestrial three-dimensional laser scanner | |
| CN108592877B (en) | Variable-size dome radius detection method | |
| CN106842229A (en) | A kind of laser head intelligent space alignment system and space-location method | |
| CN113686328B (en) | Device and method for controlling component to lift space posture | |
| CN111811483A (en) | A multi-camera network positioning and calibration method for aircraft digital assembly | |
| CN114108717A (en) | Foundation pit enclosure top deformation monitoring system and method based on vision measurement | |
| WO2017034087A1 (en) | Roll positioning information detection device and measuring method thereof | |
| CN206627632U (en) | A kind of laser head intelligent space alignment system | |
| CN110207605B (en) | Device and method for measuring metal structure deformation based on machine vision | |
| CN108278998A (en) | A kind of nuclear power station ring hangs control net and its method for building up | |
| CN117071912A (en) | Automatic hoisting and positioning method and system for prefabricated components of prefabricated buildings | |
| CN115468492B (en) | Hole pin part measuring device and hole pin part measuring method | |
| CN116136403A (en) | Construction measurement method for offshore installation of large prefabricated pier | |
| CN111458737A (en) | Real-time monitoring system and real-time monitoring method for integral hoisting of steel tower | |
| CN115752400A (en) | Multi-station interconnection measuring system for engineering measurement | |
| CN113307154B (en) | Combined monitoring method suitable for hoisting large-sized structure with small gap | |
| CN118110107A (en) | Highway prefabrication T Liang Zhineng falls roof beam controlling means based on industry photogrammetry | |
| CN112461125A (en) | Optical measurement system and measurement method for position and attitude of closed floating air ball | |
| CN118089543A (en) | Target center positioning device and method based on stereoscopic vision | |
| CN208206093U (en) | Azimuthal measurement apparatus, base station and the system of antenna for base station | |
| CN115655149A (en) | Three-dimensional laser scanner calibration system and method based on passive identification plate | |
| CN210154538U (en) | Metal structure deformation measuring device based on machine vision | |
| CN113738146B (en) | Positioning and deviation rectifying method for medical shelter moving platform | |
| KR20230096376A (en) | Construction system using indoor positioning automation technology for construction work |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant |